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. Author manuscript; available in PMC: 2015 Jul 28.
Published in final edited form as: IEEE Int Conf Robot Autom. 2014 May 31;2014:4368–4373. doi: 10.1109/ICRA.2014.6907495

Fig. 4.

Fig. 4

The needle path is divided into sub-trajectories. In each subtrajectory the needle follows a circular path, and the radius of curvature (r̂d) is estimated by a circle fitting algorithm. The center of the circle has coordinates (a, b).